Navigation and Hazard Avoidance for High-Speed Unmanned Ground Vehicles in Rough Terrain

Abstract

Many applications require unmanned ground vehicles (UGVs) to travel at high speeds on sloped, natural terrain. Control of UGVs in these scenarios is difficult due to the inherent complexity in modeling terrain effect on vehicle motion. This research has studied methods for control of high speed UGVs through the use of simplified models of UGV dynamics and terrain interaction Simulation and experimental results gathered during this work has demonstrated the effectiveness of two distinct control approaches. Other work conducted under this grant has focused on modeling of omnidirectional vehicles. Future work will pursue control methods for high speed, omnidirectional UGVs in rough, uneven terrain.

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Document Details

Document Type
Technical Report
Publication Date
Jul 07, 2008
Accession Number
ADA498562

Entities

People

  • Karl Iagnemma

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Algorithms
  • Autonomous Navigation
  • Autonomous Systems
  • Collision Avoidance
  • Control Systems
  • Coordinate Systems
  • Geometry
  • Guidance
  • Mechanical Engineering
  • Motion Planning
  • Navigational Equipment
  • Robot Navigation
  • Robots
  • Two Dimensional
  • Unmanned Ground Vehicles
  • Unmanned Systems
  • World Geodetic System

Readers

  • Acoustical Oceanography.
  • Systems Analysis and Design
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • Autonomy